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A 3-degree of freedom binary search pose estimation technique

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Abstract

This paper describes a novel, binary search pose estimation (BSPE) technique for poses constrained to 3 degrees of freedom (DOF). The technique requires three fiduciary marker points and operates by minimising the angular DOF through a binary search driven algorithm. The technique is less computationally intensive than the standard closed form solutions and quickly converges to a solution which can be verified if additional fiduciary points are available. Evaluation for the technique is presented through a comparison to pose from orthography and scaling with iterations (POSIT) using synthetic data and a real-world application, where the technique is used for pose estimation of a mobile robot with respect to a motor vehicle for inspection purposes.

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Authors and Affiliations

  1. Department of Electronic Engineering, La Trobe University, Bundoora, Melbourne, VIC, 3086 , Australia

    Robert Ross, Andrew Martchenko & John Devlin

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  1. Robert Ross
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  2. Andrew Martchenko
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  3. John Devlin
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Correspondence to Robert Ross.

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Ross, R., Martchenko, A. & Devlin, J. A 3-degree of freedom binary search pose estimation technique. Machine Vision and Applications 24, 769–776 (2013). https://doi.org/10.1007/s00138-013-0483-3

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